addpath(genpath('anymal_b_simple_description'))
initialPos=[[-0.180304649622485;0.707778746139701;-0.910179587563713;-0.180304649622485;-0.707778746139701;0.910179587563713;0.180304649622485;0.707778746139702;-0.910179587563714;0.180304649622485;-0.707778746139702;0.910179587563713]];

initialHeight=0.58;
joint.stiffness=0;
joint.damping=8;

% gaitTable

% open_system('anymalrobot')
